Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactional point between the fingers of gripper and payload, inside the impedance control, is achieved using model predictive control (MPD) approach.

     In this research, silver nanoparticles (AgNPs) were manufactured using aqueous extract of mushroom Pleurotus ostreatus. Anticancer potential of AgNPs was investigated versus human breast cancer cell line (MCF-7). Cytotoxic response was assessed by MTT assay. AgNPs showed inhibition effect at the following concentrations 12.5, 25, 50, 100 and 200 µg/ml versus MCF-7 cell line, and all treatments had a positive result. The MCF-7 cells were inhibited up to 85.14 % at the concentration 200 μg/ml of AgNPs which reduced cells viability to 14.86%, while 12.5 μg/ml of AgNPs caused 24.23% cells inhibition with reduction of cells viability to 75.77%.

Transportation and distribution are the most important elements in the work system for any company, which are of great importance in the success of the chain work. Al-Rabee factory is one of the largest ice cream factories in Iraq and it is considered one of the most productive and diversified factories with products where its products cover most areas of the capital Baghdad, however, it lacks a distribution system based on scientific and mathematical methods to work in the transportation and distribution processes, moreover, these processes need a set of important data that cannot in any way be separated from the reality of fuzziness industrial environment in Iraq, which led to use the fuzzy sets theory to reduce the levels of uncertainty.

Diabetic foot ulcer (DFU) or Lower limb ulcers are one of the major complications caused by diabetes mellitus especially when patients fail to maintain tight glycemic control. DFU is linked to multiple risk factors along with the genetic factors and ethnicity which play a significant role in the development of DFUs through their effects on multiple aspects of the pathophysiological process. This narrative review aimed to summarize all the previous studies within the last ten years associating gene polymorphism and DFU. Polymorphism associated with vascular endothelial growth factor (rs699947), the G894T polymorphism of the endothelial nitric oxide synthase gene, interleukin-6–174 G>C gene polymorphism, heat shock protein 70 gene polymorph

Pseudomonas aeruginosa  gram-negative, bacilli and facultative aerobic, P. aeruginosa cause cystic fibrosis patients, wounds, burns, and immunodeficienct patients,  that have many virulence factors such as pyocyanin , cytotoxic ,biofilm formation  and motility, Eighty-eight isolates belonging to P. aeruginosa were collected including the 66 clinical isolates obtained from different hospitals in Baghdad and were from different sources and 22 environmental isolates from previous studies of soil near oil fields. Microscopical and cultural characteristics were studied and diagnosed using biochemical tests, VITEC device, their ability to adhere to non-living (Polystyrene), living cell line (A549) and cytotoxicity of bacterial filtrate

In this study, a fast block matching search algorithm based on blocks' descriptors and multilevel blocks filtering is introduced. The used descriptors are the mean and a set of centralized low order moments. Hierarchal filtering and MAE similarity measure were adopted to nominate the best similar blocks lay within the pool of neighbor blocks. As next step to blocks nomination the similarity of the mean and moments is used to classify the nominated blocks and put them in one of three sub-pools, each one represents certain nomination priority level (i.e., most, less & least level). The main reason of the introducing nomination and classification steps is a significant reduction in the number of matching instances of the pixels belong to the c

To maintain the security and integrity of data, with the growth of the Internet and the increasing prevalence of transmission channels, it is necessary to strengthen security and develop several algorithms. The substitution scheme is the Playfair cipher. The traditional Playfair scheme uses a small 5*5 matrix containing only uppercase letters, making it vulnerable to hackers and cryptanalysis. In this study, a new encryption and decryption approach is proposed to enhance the resistance of the Playfair cipher. For this purpose, the development of symmetric cryptography based on shared secrets is desired. The proposed Playfair method uses a 5*5 keyword matrix for English and a 6*6 keyword matrix for Arabic to encrypt the alphabets of